相关论文: NemeSys: Toward Online Underwater Exploration with…

Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…

Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…

Recently, unmanned aerial vehicles (UAVs) assisted multi-access edge computing (MEC) systems emerged as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure coverage. As each UAV…

This paper investigates the joint optimization of trajectory, user scheduling, and time-slot duration in unmanned aerial vehicle (UAV)-assisted wireless communication systems under minimum expected spectral efficiency (SE) constraints.…

This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…

This paper proposes a novel adaptive guidance system developed using reinforcement meta-learning with a recurrent policy and value function approximator. The use of recurrent network layers allows the deployed policy to adapt real time to…

Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…

Unmanned aerial vehicles (UAVs) are promising for providing communication services due to their advantages in cost and mobility, especially in the context of the emerging Metaverse and Internet of Things (IoT). This paper considers a…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

Future vehicular networks require continuous connectivity to serve highly mobile users in urban environments. To mitigate the coverage limitations of fixed terrestrial macro base stations (MBS) under non line-of-sight (NLoS) conditions,…

Unmanned aerial vehicles (UAVs) and Terahertz (THz) technology are envisioned to play paramount roles in next-generation wireless communications. In this paper, we present a novel secure UAV-assisted mobile relaying system operating at THz…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…

Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Systems (GNSS). Such operations are critical when surface…

Autonomous UAV navigation using reinforcement learning (RL) is vulnerable to adversarial attacks that manipulate sensor inputs, potentially leading to unsafe behavior and mission failure. Although robust RL methods provide partial…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

With the rapid advancement of underwater net-working and multi-agent coordination technologies, autonomous underwater vehicle (AUV) ad-hoc networks have emerged as a pivotal framework for executing complex maritime missions, such as…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

Underwater instance segmentation is a fundamental and critical step in various underwater vision tasks. However, the decline in image quality caused by complex underwater environments presents significant challenges to existing segmentation…

In this paper, we investigate robust resource allocation algorithm design for multiuser downlink multiple-input single-output (MISO) unmanned aerial vehicle (UAV) communication systems, where we account for the various uncertainties that…